version: 66.04
glider: 116
mission: 22
dive: 42
start: 8 1 109 18 54 45
data:
$ID,116
$MISSION,22
$DIVE,42
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1090
$D_NO_BLEED,50
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,750
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51716
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.83
$TGT_DEFAULT_LON,-159.78
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-58305.738
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,132
$PITCH_MAX,3449
$C_PITCH,3095
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,155
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2628
$C_ROLL_CLIMB,2530
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,770
$VBD_MAX,3955
$C_VBD,2936
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,3
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,150
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-0.46644667
$PRESSURE_SLOPE,0.0001158926
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,3
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043738699
$SEABIRD_T_H,0.00063649943
$SEABIRD_T_I,2.5189185e-05
$SEABIRD_T_J,2.7386873e-06
$SEABIRD_C_G,-9.8703537
$SEABIRD_C_H,1.1242318
$SEABIRD_C_I,-0.0015997718
$SEABIRD_C_J,0.00020779716
$GPS1,184136,2151.794,-15943.267,14,2.0,24,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-70.3
$GPS2,185350,2151.801,-15943.537,13,1.8,13,9.8
$SPEED_LIMITS,0.100,0.324
$TGT_NAME,TA
$TGT_LATLONG,2155.000,-15943.400
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.247,0.210
$KALMAN_X,-61558.2,392.6,-539.7,59029.7,-855.7
$KALMAN_Y,11529.6,-221.1,-3.6,-19187.9,165.0
$MHEAD_RNG_PITCHd_Wd,39.8,5930,-13.1,-10.000
$D_GRID,180
$MM_IGNORESAMPLERETURN,0.0
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.39,-243.2,0.0,0.0,0,94,0.00,0.00,-74.38,0.000,2,0.000,0.000,125,2638,3395
$GC,97,-1.39,-243.3,3.4,-6.9,11,127,16.00,2.28,-8.10,0.000,4,0.178,0.072,2789,3887,3929
$GC,211,-1.39,-243.3,34.1,-17.5,23,219,0.00,2.12,0.00,0.000,6,0.000,0.028,2789,2625,3930
$GC,409,-1.39,-243.3,62.7,-12.2,42,413,0.00,2.30,0.00,0.000,4,0.000,0.061,2789,3883,3932
$GC,437,-1.39,-243.3,66.3,-13.4,44,441,0.00,2.10,0.00,0.000,6,0.000,0.028,2789,2619,3932
$GC,767,-1.39,-243.3,107.8,-13.0,75,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2618,3933
$GC,1086,-1.39,-243.3,148.2,-10.9,105,1090,0.00,2.35,0.00,0.000,4,0.000,0.068,2789,3887,3932
$GC,1133,-1.39,-243.3,153.4,-11.9,109,1137,0.00,2.10,0.00,0.000,6,0.000,0.029,2789,2626,3932
$STATE,1376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1376,begin apogee
$GC,1381,-0.42,0.0,181.0,10.9,132,1690,1.00,0.00,297.12,0.561,6,0.070,0.000,3004,2533,2936
$STATE,1691,end apogee,CONTROL_FINISHED_OK
$STATE,1691,begin climb
$GC,1693,1.39,243.3,191.6,0.0,163,2004,1.75,2.45,297.70,0.551,4,0.047,0.040,3400,1125,1943
$GC,2185,1.39,243.3,156.1,10.1,205,2189,0.00,2.45,0.00,0.000,6,0.000,0.035,3400,2528,1940
$GC,2509,1.49,324.8,126.7,7.7,235,2617,0.00,2.53,99.93,0.534,4,0.000,0.062,3400,3884,1611
$GC,2752,1.53,360.0,106.5,9.0,256,2805,0.12,2.30,44.35,0.518,6,0.052,0.031,3438,2522,1468
$GC,3129,1.53,360.0,62.5,11.3,291,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,3438,2522,1463
$GC,3448,1.54,365.9,30.0,9.8,321,3462,0.00,2.50,7.38,0.429,4,0.000,0.059,3437,3884,1444
$GC,3520,1.54,365.9,22.3,10.9,327,3524,0.00,2.28,0.00,0.000,6,0.000,0.029,3438,2525,1444
$STATE,3701,end climb,SURFACE_DEPTH_REACHED
$STATE,3701,begin surface coast
$FINISH,0.2,1.023062
$STATE,3741,end surface coast,CONTROL_FINISHED_OK
$STATE,3741,begin surface
$SM_CCo,3765,16.12,0.457,0,0,1304,400.08
$SM_GC,1.22,0.00,0.00,16.12,0.000,0.000,0.457,123,2629,1304,-13.67,0.03,400.08
$IRIDIUM_FIX,2143.45,-15943.76,261098,181820
$TT8_MAMPS,0.064428
$HUMID,1800
$INTERNAL_PRESSURE,11.5141
$TCM_TEMP,24.30
$MM_GliderControlLayer,0.41
$MM_CommsStack,0.86
$MM_CLLLayer,0.03
$MM_CfgFile,0.30
$24V_AH,23.6,15.766
$10V_AH,10.1,4.972
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,undefined,Mmodem_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,33.475,28.075,746.475,16.125,0.000,53.368,56.892,460.619,0.000,0.000,187.217,13.455,653.215,1643.028,689.233,712.890,829.416,33.334,1183.535,0.000,677.042,0.000,0.000,0.000
$DEVICE_MAMPS,177.944,72.098,561.444,457.132,0.000,103.000,160.000,223.000,0.000,0.000,1000.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,8.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,GUMSTIX,nil
$SENSOR_SECS,233.754,0.000,0.000,0.000,0.000,0.000,66.749,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,1000.000,0.000
$DATA_FILE_SIZE,9594,364
$CAP_FILE_SIZE,142913,0
$CFSIZE,260034560,252628992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010809,195832,2152.327,-15943.997,12,1.9,12,9.8